1928 lines
66 KiB
Plaintext
1928 lines
66 KiB
Plaintext
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<sdf version="1.5">
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<world name="default">
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<physics type="simbody">
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<gravity>0 0 -9.8</gravity>
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<ode>
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<solver />
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</ode>
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<simbody>
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<dt>0.001</dt>
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</simbody>
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<max_step_size>0.001</max_step_size>
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</physics>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="ragdoll">
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<pose>0.000000 0.000000 1.4 0.000000 -0.000000 0.000000</pose>
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<link name="hip">
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<inertial>
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<ixx>0.100000</ixx>
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<iyz>0.000000</iyz>
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<izz>0.100000</izz>
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<mass>10.000000</mass>
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<collision name="hip_geom">
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<pose>0.000000 0.000000 0.125000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<box>
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<size>0.100000 0.500000 0.250000</size>
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</box>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0.000000 0.000000 0.000000</fdir1>
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<slip1>0.000000</slip1>
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<slip2>0.000000</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0.000000</restitution_coefficient>
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<threshold>100000.000000</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0.000000</soft_cfm>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000.000000</kp>
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<kd>1.000000</kd>
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<max_vel>0.000000</max_vel>
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<min_depth>0.001000</min_depth>
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</ode>
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</surface>
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<laser_retro>0.000000</laser_retro>
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<visual name="hip_geom_visual">
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<pose>0.000000 0.000000 0.125000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<box>
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<size>0.100000 0.500000 0.250000</size>
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</box>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0.000000</laser_retro>
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<transparency>0.000000</transparency>
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</visual>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="l_thigh_pan">
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<pose>0.000000 0.220000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<ixx>0.010000</ixx>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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<mass>1.000000</mass>
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</inertial>
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<collision name="l_thigh_pan_geom">
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<geometry>
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<sphere>
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<surface>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0.000000 0.000000 0.000000</fdir1>
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<slip1>0.000000</slip1>
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<slip2>0.000000</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0.000000</restitution_coefficient>
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<threshold>100000.000000</threshold>
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<ode>
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<soft_erp>0.200000</soft_erp>
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<kp>1000000000000.000000</kp>
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<max_vel>0.000000</max_vel>
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</ode>
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<laser_retro>0.000000</laser_retro>
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<visual name="l_thigh_pan_geom_visual">
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<radius>0.060000</radius>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0.000000</laser_retro>
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<transparency>0.000000</transparency>
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</visual>
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<gravity>0</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<link name="l_thigh_lift">
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<pose>0.000000 0.220000 0.000000 0.000000 -0.000000 0.000000</pose>
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<izz>0.050000</izz>
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<collision name="l_thigh_lift_geom">
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<ode>
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<mu>-1.000000</mu>
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<geometry>
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<geometry>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<threshold>100000.000000</threshold>
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<sphere>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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<pose>0.000000 0.000000 -0.100000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<box>
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<friction>
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<ode>
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<mu>-1.000000</mu>
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<mu2>-1.000000</mu2>
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<fdir1>0.000000 0.000000 0.000000</fdir1>
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<slip1>0.000000</slip1>
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<threshold>100000.000000</threshold>
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||
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<pose>0.000000 0.000000 -0.100000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<box>
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||
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|
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||
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|
</box>
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|
||
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|
<kinematic>0</kinematic>
|
||
|
|
</link>
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||
|
|
<joint name="l_thigh_pan_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>hip</parent>
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||
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|
<child>l_thigh_pan</child>
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||
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||
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|
<dynamics>
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||
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||
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||
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<use_parent_model_frame>true</use_parent_model_frame>
|
||
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|
</axis>
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||
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|
</joint>
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||
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<joint name="l_thigh_lift_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_thigh_pan</parent>
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||
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|
<child>l_thigh_lift</child>
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||
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|
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||
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|
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||
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|
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||
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||
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||
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<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
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|
</joint>
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||
|
|
<joint name="l_calf_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_thigh_lift</parent>
|
||
|
|
<child>l_calf</child>
|
||
|
|
<axis>
|
||
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|
<dynamics>
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||
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|
<damping>0.000000</damping>
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||
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|
<friction>0.000000</friction>
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||
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||
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|
<xyz>0.000000 1.000000 0.000000</xyz>
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||
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|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="l_ankle_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_calf</parent>
|
||
|
|
<child>l_ankle</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
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||
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|
<damping>0.000000</damping>
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||
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|
<friction>0.000000</friction>
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||
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|
||
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|
<xyz>0.000000 1.000000 0.000000</xyz>
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||
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|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="l_foot_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_ankle</parent>
|
||
|
|
<child>l_foot</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
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||
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|
</dynamics>
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||
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|
||
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|
<xyz>1.000000 0.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_thigh_pan_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>hip</parent>
|
||
|
|
<child>r_thigh_pan</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
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|
<friction>0.000000</friction>
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||
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|
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||
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|
||
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|
<xyz>0.000000 0.000000 1.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_thigh_lift_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_thigh_pan</parent>
|
||
|
|
<child>r_thigh_lift</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
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|
</dynamics>
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||
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|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_calf_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_thigh_lift</parent>
|
||
|
|
<child>r_calf</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_ankle_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_calf</parent>
|
||
|
|
<child>r_ankle</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_foot_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_ankle</parent>
|
||
|
|
<child>r_foot</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="torso_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>hip</parent>
|
||
|
|
<child>torso</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="l_shoulder_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>torso</parent>
|
||
|
|
<child>l_shoulder</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="l_upper_arm_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_shoulder</parent>
|
||
|
|
<child>l_upper_arm</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="l_forearm_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_upper_arm</parent>
|
||
|
|
<child>l_forearm</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="l_wrist_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_forearm</parent>
|
||
|
|
<child>l_wrist</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="l_hand_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>l_wrist</parent>
|
||
|
|
<child>l_hand</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="neck_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>torso</parent>
|
||
|
|
<child>neck</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="head_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>neck</parent>
|
||
|
|
<child>head</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_shoulder_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>torso</parent>
|
||
|
|
<child>r_shoulder</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_upper_arm_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_shoulder</parent>
|
||
|
|
<child>r_upper_arm</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_forearm_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_upper_arm</parent>
|
||
|
|
<child>r_forearm</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_wrist_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_forearm</parent>
|
||
|
|
<child>r_wrist</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<joint name="r_hand_joint" type="revolute">
|
||
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||
|
|
<parent>r_wrist</parent>
|
||
|
|
<child>r_hand</child>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.000000</damping>
|
||
|
|
<friction>0.000000</friction>
|
||
|
|
</dynamics>
|
||
|
|
<limit lower="-1.570800" upper="1.570800" effort="0.000000" velocity="0.000000" />
|
||
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<static>0</static>
|
||
|
|
<!--
|
||
|
|
<joint name="joint1" type="revolute">
|
||
|
|
<parent>world</parent>
|
||
|
|
<child>r_hand</child>
|
||
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>1.0 0.0 0.0</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>1000</lower>
|
||
|
|
<upper>-1000</upper>
|
||
|
|
<effort>0</effort>
|
||
|
|
<velocity>1000</velocity>
|
||
|
|
</limit>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
-->
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|